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1Problem StatementNeed to build a manually controlled robot capable of moving around and gripping and lifting objects.Basically we can divide this problem into four major parts:ChassisGripping MechanismLifting MechanismControl System

Drive MechanismDifferential Drive:2 wheel drive via motors4 wheel drive via motorsParallel Drive:Steering is done using a steering wheel

Differential DriveLeft and right wheels are independent.When both the wheels rotate at same speed, the robot moves in straight line.To turn, slow down the corresponding wheel.

Parallel DriveLeft and Right wheels are dependent.Most of the cars use this mechanism.Generally, two wheel drive.Front wheels are free and are used for steering.

How to decide which motor to use?Gripping MechanismGripper: The part of robot used for gripping any object.No design is ideal for all application.Best design of the gripper till now is the replication of our hand.

7Vacuum GripperVery strong GripConsumes lot of powerDifficult to built

Roller GripperGood for gripping balls.High precision required.SlowAlignment problems.

4 Bar MechanismAdvantages:Ends stay parallelAutomatic gripper locking

Disadvantages:Difficult to manufacture.Precise calculation required.

10Lifting Mechanism11Parallelogram MechanismObjects orientation doesnt change.Easy to carry around the objects12Four Bar MechanismObject orientation doesnt change.Easy to build.COM of robot remains low

Scissor MechanismThe object will follow a vertically straight line.Difficult to manufacture

14Pulley, String, Sliders15Control SystemNeed a switch.The best switch to drive a motor is 3 state 8 pin DPDT.Total no. of motors = Total no. of switchesHow to lock a motor?Know your ComponentsTwo metal shaft motors:Operating Voltage: 12VTorque: Speed: 60 rpmTwo plastic shaft motors:Operating Voltage: 12VTorque: Speed: 75 rpmTwo plastic wheels:Diameter: 69mmWidth: 7mm

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